相关论文: Exploring Simple Triangular and Hexagonal Grid Pol…

A mobile robot represented by a point moving in the plane has to explore an unknown terrain with obstacles. Both the terrain and the obstacles are modeled as arbitrary polygons. We consider two scenarios: the unlimited vision, when the…

A mobile agent, starting from a node $s$ of a simple undirected connected graph $G=(V,E)$, has to explore all nodes and edges of $G$ using the minimum number of edge traversals. To do so, the agent uses a deterministic algorithm that allows…

We consider the following distributed pursuit-evasion problem. A team of mobile agents called searchers starts at an arbitrary node of an unknown $n$-node network. Their goal is to execute a search strategy that guarantees capturing a fast…

Autonomous exploration is a widely studied problem where a robot incrementally builds a map of a previously unknown environment. The robot selects the next locations to reach using an exploration strategy. To do so, the robot has to balance…

Discharging arguments demonstrate a connection between local structure and global averages. This makes it an effective tool for proving lower bounds on the density of special sets in infinite grids. However, the minimum density of an…

We consider exploration of finite 2D square grid by a metamorphic robotic system consisting of anonymous oblivious modules. The number of possible shapes of a metamorphic robotic system grows as the number of modules increases. The shape of…

In this paper, we study the problem of coverage planning by a mobile robot with a limited energy budget. The objective of the robot is to cover every point in the environment while minimizing the traveled path length. The environment is…

Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or…

We study the computability and complexity of the exploration problem in a class of highly dynamic graphs: periodically varying (PV) graphs, where the edges exist only at some (unknown) times defined by the periodic movements of carriers.…

Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…

Consider a region that requires to be protected from unauthorized penetrations. The border of the region, modeled as a unit line segment, consists of high priority segments that require the highest level of protection separated by low…

We consider a perimeter defense problem in a rooted full tree graph environment in which a single defending vehicle seeks to defend a set of specified vertices, termed as the perimeter from mobile intruders that enter the environment…

We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…

In this paper, we consider the gathering problem of seven autonomous mobile robots on triangular grids. The gathering problem requires that, starting from any connected initial configuration where a subgraph induced by all robot nodes…

We propose a mechanism enabling the appearance of border cells -- neurons firing at the boundaries of the navigated enclosures. The approach is based on the recent discovery of discrete complex analysis on a triangular lattice, which allows…

Gathering mobile robots is a widely studied problem in robotic research. This survey first introduces the related work, summarizing models and results. Then, the focus shifts on the open problem of gathering fat robots. In this context,…

We consider information diffusion on Web-like networks and how random walks can simulate it. A well-studied problem in this domain is Partial Cover Time, i.e., the calculation of the expected number of steps a random walker needs to visit a…

Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…

We deal with a set of autonomous robots moving on an infinite grid. Those robots are opaque, have limited visibility capabilities, and run using synchronous Look-Compute-Move cycles. They all agree on a common chirality, but have no global…

Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…